Title:
WORK DEVICE USING PARALLEL LINK MECHANISM
Document Type and Number:
WIPO Patent Application WO/2019/049972
Kind Code:
A1
Abstract:
This parallel link mechanism is applied to a work device (1) in which a link actuating device (7) and another assembly-side actuator (71) are assembled. In a storage unit (3) that stores a plurality of work coordinates of a control device (2), a work point moving speed, which is a target speed of an end effector (6), and an attitude change speed, which is a target angular velocity set in order to change the attitude of the end effector (6), are stored. A control unit (4) has a switching function unit (4a) which switches a target speed used when calculating the moving speeds of the respective actuators (111, 112, 113) for attitude control and the moving speed of the assembly-side actuator (71) into the work point moving speed and the attitude change speed.
Inventors:
MARUI NAOKI (JP)
ISOBE HIROSHI (JP)
ISOBE HIROSHI (JP)
Application Number:
PCT/JP2018/033159
Publication Date:
March 14, 2019
Filing Date:
September 07, 2018
Export Citation:
Assignee:
NTN TOYO BEARING CO LTD (JP)
International Classes:
B25J11/00; B25J13/00
Domestic Patent References:
WO2016084685A1 | 2016-06-02 | |||
WO2002066210A1 | 2002-08-29 |
Foreign References:
JP2016043452A | 2016-04-04 | |||
JPH08339221A | 1996-12-24 | |||
JPS56157983A | 1981-12-05 | |||
JP2010167515A | 2010-08-05 | |||
JP2006116658A | 2006-05-11 | |||
JPH03196982A | 1991-08-28 | |||
JP5785055B2 | 2015-09-24 | |||
JP2015155124A | 2015-08-27 | |||
JP2015188945A | 2015-11-02 |
Other References:
See also references of EP 3680072A4
Attorney, Agent or Firm:
SUGIMOTO, Shuji et al. (JP)
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